mls.h

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 * $Id: mls.h 3753 2011-12-31 23:30:57Z rusu $
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#ifndef PCL_MLS_H_
#define PCL_MLS_H_

// PCL includes
#include <pcl/pcl_base.h>
#include <boost/bind.hpp>
#include <boost/function.hpp>
#include "pcl/search/pcl_search.h"

#include <Eigen/SVD>

namespace pcl
{
  template <typename PointInT, typename NormalOutT>
  class MovingLeastSquares: public PCLBase<PointInT>
  {
    public:
      using PCLBase<PointInT>::input_;
      using PCLBase<PointInT>::indices_;
      using PCLBase<PointInT>::fake_indices_;
      using PCLBase<PointInT>::initCompute;
      using PCLBase<PointInT>::deinitCompute;

      typedef typename pcl::search::Search<PointInT> KdTree;
      typedef typename pcl::search::Search<PointInT>::Ptr KdTreePtr;

      typedef pcl::PointCloud<NormalOutT> NormalCloudOut;
      typedef typename NormalCloudOut::Ptr NormalCloudOutPtr;
      typedef typename NormalCloudOut::ConstPtr NormalCloudOutConstPtr;

      typedef pcl::PointCloud<PointInT> PointCloudIn;
      typedef typename PointCloudIn::Ptr PointCloudInPtr;
      typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;

      typedef boost::function<int (int, double, std::vector<int> &, std::vector<float> &)> SearchMethod;

      MovingLeastSquares () : PCLBase<PointInT> (), tree_ (), order_ (2), polynomial_fit_ (true), search_radius_ (0), sqr_gauss_param_ (0) {};

      inline void 
      setOutputNormals (NormalCloudOutPtr cloud) { normals_ = cloud; }

      inline NormalCloudOutPtr 
      getOutputNormals () { return normals_; }

      inline void
      setSearchMethod (const KdTreePtr &tree)
      {
        tree_ = tree;
        // Declare the search locator definition
        int (KdTree::*radiusSearch)(int index, double radius, std::vector<int> &k_indices, std::vector<float> &k_sqr_distances, int max_nn) const = &KdTree::radiusSearch;
        search_method_ = boost::bind (radiusSearch, boost::ref (tree_), _1, _2, _3, _4, INT_MAX);
      }

      inline KdTreePtr 
      getSearchMethod () { return (tree_); }

      inline void 
      setPolynomialOrder (int order) { order_ = order; }

      inline int 
      getPolynomialOrder () { return (order_); }

      inline void 
      setPolynomialFit (bool polynomial_fit) { polynomial_fit_ = polynomial_fit; }

      inline bool 
      getPolynomialFit () { return (polynomial_fit_); }

      inline void 
      setSearchRadius (double radius) { search_radius_ = radius; sqr_gauss_param_ = search_radius_ * search_radius_; }

      inline double 
      getSearchRadius () { return (search_radius_); }

      inline void 
      setSqrGaussParam (double sqr_gauss_param) { sqr_gauss_param_ = sqr_gauss_param; }

      inline double 
      getSqrGaussParam () { return (sqr_gauss_param_); }

      void 
      reconstruct (PointCloudIn &output);

    protected:
      NormalCloudOutPtr normals_;

      SearchMethod search_method_;

      KdTreePtr tree_;

      int order_;

      bool polynomial_fit_;

      double search_radius_;

      double sqr_gauss_param_;

      int nr_coeff_;

      inline int
      searchForNeighbors (int index, std::vector<int> &indices, std::vector<float> &sqr_distances)
      {
        return (search_method_ (index, search_radius_, indices, sqr_distances));
      }

      void
      computeMLSPointNormal (PointInT &pt, const PointCloudIn &input, 
                             const std::vector<int> &nn_indices, std::vector<float> &nn_sqr_dists,
                             Eigen::Vector4f &normal);

    private:
      virtual void performReconstruction (PointCloudIn &output);

      std::string getClassName () const { return ("MovingLeastSquares"); }
  };
}

#endif  //#ifndef PCL_MLS_H_